The trick is finding out the address range your router is using for DHCP, such as 192.168.1.100-254 or so. Then, pick something outside of that range. My router is obviously 192.168.1.1, so I made my server 192.168.1.2, and then I hardcoded 192.168.1.3 in for my printer. I also put a label on the printer showing that address, in case I was to forget. Now, once you have that set on the printer, usually on the screen (if it has one), or you may have to connect it to your computer if it doesn't have a screen, any computer on the network should be able to connect to the printer, have the drivers
installed, and work fine.